Glider dive log

SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 173 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 573 HD_B 0.010078 ROLL_MIN 150 ALTIM_TOP_TURN_MARGIN 0

MISSION 9 HD_C 9.8500004e-06 ROLL_MAX 3785 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 173 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 50

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 1919 ALTIM_PING_DELTA 10

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 1758 ALTIM_FREQUENCY 13

D_TGT 1000 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_ABORT 1050 TGT_DEFAULT_LAT -3415 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 TGT_DEFAULT_LON 2600 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 23 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 300 R_STBD_OVSHOOT 9 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.55000001

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 409 DEVICE2 101

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3959 DEVICE3 35

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2864 DEVICE4 135

T_DIVE 333 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 348 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_TIMEOUT 720 LOGGERS 1

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012000001 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -14065.09 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 1 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 20 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 200 PITCH_MIN 100 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0042828661

GLIDE_SLOPE 30 C_PITCH 3020 PHONE_SUPPLY 2 SEABIRD_T_H 0.00061930995

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -86.704987 SEABIRD_T_I 2.1971719e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011693723 SEABIRD_T_J 2.301111e-06

MASS 52922 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9469662

LENGTH 1.8 PITCH_GAIN 20 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.155618

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0016006827

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00019558761

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 0

HD_A 0.0038360001 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15 GC_LAST_COLLECTION 172

AD7714Ch0Gain 128 D_NO_BLEED 500 N_GPS 20 SEABIRD_T_J 2.301111e-06

AH0_10V 100 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_PITCH 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PHONE_DEVICE 48 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 1000 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_DELTA 10 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 50 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3858 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -3415

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 100 TGT_DEFAULT_LON 2600

CALL_NDIVES 1 GC_LAST_COLLECTION 172 PITCH_TIMEOUT 16 T_ABORT 1440

CALL_TRIES 5 GC_WINDOW 0 PITCH_VBD_SHIFT 0.0012000001 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011693723 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -86.704987 T_DIVE 333

CAPUPLOAD 0 HD_A 0.0038360001 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 HD_B 0.010078 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

COMM_SEQ 0 HD_C 9.8500004e-06 RAFOS_DEVICE -1 T_GPS_CHARGE -14065.09

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_MISSION 348

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 1

C_PITCH 3020 ID 573 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 1758 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 1919 INT_PRESSURE_YINT -0.55000001 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2864 KALMAN_USE 2 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3785 USE_ICE 0

DEVICE2 101 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 35 LOGGERDEVICE3 -1 ROLL_MIN 150 VBD_CNV -0.245296

DEVICE4 135 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 1 R_PORT_OVSHOOT 23 VBD_MAX 3959

DEVICE6 -1 MASS 52922 R_STBD_OVSHOOT 9 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 200 SEABIRD_C_G -9.9469662 VBD_MIN 409

DIVE 173 MINV_10V 8 SEABIRD_C_H 1.155618 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1050 MINV_24V 20 SEABIRD_C_I -0.0016006827 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 9 SEABIRD_C_J 0.00019558761 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0042828661 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 2 SEABIRD_T_H 0.00061930995 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.1971719e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 290415,073804,-3426.041,2545.969,38,1.7,50,-27.8 TGT_NAME DEPLOY

_CALLS 1 TGT_LATLONG -3435.580,2528.620

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.204

_SM_DEPTHo 2.06 KALMAN_X -18488.8,-8625.5,-2647.6,-6374.3,-1020.9

_SM_ANGLEo -63.5 KALMAN_Y -14362.4,-6812.0,-2167.9,-3593.3,-569.5

GPS2 290415,074553,-3426.031,2546.055,72,1.1,72,-27.8 MHEAD_RNG_PITCHd_Wd 263.6,31926,-15.7,-10.010

SPEED_LIMITS 0.173,0.296 D_GRID 1000

Post-dive calculations and measurements:

FINISH 1.2,1.021605 _10V_AH 10.2,14.515

SM_CCo 6239,0.00,0.000,0,0,1377,364.76 FG_AHR_24Vo 0.000

SM_GC 2.06,8.75,0.00,0.00,0.050,0.000,0.000,72,1930,1377,-9.10,0.31,364.76 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3412.10,2544.86,230208,191915 MEM 331496

TT8_MAMPS 0.026215 DATA_FILE_SIZE 70495,957

HUMID 61.53 CAP_FILE_SIZE 115274,0

INTERNAL_PRESSURE 9.32343 CFSIZE 2097086464,2074411008

TCM_TEMP 16.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 0 CURRENT 0.088, 48.1,1

ALTIM_BOTTOM_PING 290.6,32.1 GPS 290415,093123,-3426.328,2545.331,37,1.8,37,-27.8

_24V_AH 23.9,18.484

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 263 146.86 SBE_CT 651 23 361.83

Roll_motor 71 118 201.21 AA4330 2470 17 1017.36

VBD_pump_during_apogee 435 791 8244.46 WL_BB2F 1684 105 4228.46

VBD_pump_during_surface 0 0 0.00 QSP2150 2670 17 1099.54

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 91 52.58 nil 0 0 0.00

Iridium_during_connect 17 160 67.29 nil 0 0 0.00

Iridium_during_xfer 255 223 1362.93 nil 0 0 0.00

Transponder_ping 6 420 65.25 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 73 27 20.88

TT8 2261 13 320.40

LPSleep 650 2 14.53

TT8_Active 565 13 80.19

TT8_Sampling 3076 40 1281.74

TT8_CF8 153 50 79.21

TT8_Kalman 0 0 0.00

Analog_circuits 1542 15 240.98

GPS_charging 0 0 0.00

Compass 2431 15 390.11

RAFOS 0 0 0.00

Transponder 41 30 12.85

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -1.02 -194.6 0.0 0.0 0 88 0.00 0.00 -61.08 0.000 2 0.000 0.000 89 1915 3005 0 0 0 0 0 0

91 -1.02 -194.6 3.0 -2.2 7 126 11.32 0.00 -15.43 0.000 6 0.263 0.000 2682 1915 3660 0 0 0 0 0 0

203 -0.81 -194.6 24.7 -19.7 23 212 0.25 0.00 0.00 0.000 6 0.210 0.000 2749 1915 3663 0 0 0 0 0 0

287 -0.70 -194.6 39.1 -14.2 36 297 0.17 2.50 0.00 0.000 4 0.203 0.093 2791 493 3664 0 0 0 0 0 0

312 -0.63 -194.6 42.0 -12.5 39 320 0.12 2.65 0.00 0.000 6 0.210 0.119 2810 1928 3664 0 0 0 0 0 0

430 -0.63 -194.6 51.9 -7.4 58 440 0.00 2.40 0.00 0.000 4 0.000 0.087 2800 3345 3665 0 0 0 0 0 0

503 -0.66 -194.6 57.9 -7.9 69 510 0.00 2.40 0.00 0.000 6 0.000 0.084 2800 1933 3666 0 0 0 0 0 0

623 -0.68 -194.6 68.2 -9.6 88 631 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 1933 3667 0 0 0 0 0 0

744 -0.71 -194.6 79.9 -9.9 107 754 0.00 2.38 0.00 0.000 4 0.000 0.084 2791 3355 3668 0 0 0 0 0 0

787 -0.74 -194.6 84.6 -10.8 113 794 0.00 2.47 0.00 0.000 6 0.000 0.092 2791 1915 3668 0 0 0 0 0 0

905 -0.74 -194.6 97.5 -10.5 132 913 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 1915 3668 0 0 0 0 0 0

1022 -0.74 -194.6 109.7 -10.8 151 1032 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 1915 3669 0 0 0 0 0 0

1141 -0.74 -194.6 122.4 -10.5 170 1151 0.00 2.45 0.00 0.000 4 0.000 0.088 2782 3351 3670 0 0 0 0 0 0

1178 -0.74 -194.6 125.8 -10.0 175 1185 0.00 2.50 0.00 0.000 6 0.000 0.102 2782 1916 3669 0 0 0 0 0 0

1296 -0.74 -194.6 138.4 -10.4 194 1305 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1916 3670 0 0 0 0 0 0

1417 -0.74 -194.6 151.1 -11.1 213 1423 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1916 3670 0 0 0 0 0 0

1533 -0.74 -194.6 163.4 -10.6 232 1542 0.00 2.45 0.00 0.000 4 0.000 0.092 2782 483 3671 0 0 0 0 0 0

1556 -0.74 -194.6 165.8 -11.2 235 1563 0.00 2.45 0.00 0.000 6 0.000 0.082 2772 1919 3670 0 0 0 0 0 0

1672 -0.71 -194.6 179.4 -11.1 254 1684 0.05 2.40 0.00 0.000 4 0.258 0.093 2771 3338 3670 0 0 0 0 0 0

1746 -0.71 -194.6 187.6 -11.2 265 1754 0.08 2.42 0.00 0.000 6 0.179 0.094 2786 1918 3670 0 0 0 0 0 0

1863 -0.71 -194.6 199.8 -10.6 284 1872 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1918 3670 0 0 0 0 0 0

1982 -0.71 -194.6 211.6 -9.6 303 1989 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1918 3670 0 0 0 0 0 0

2100 -0.71 -194.6 223.4 -9.9 322 2109 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1918 3670 0 0 0 0 0 0

2221 -0.71 -194.6 234.9 -9.0 341 2228 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1918 3669 0 0 0 0 0 0

2337 -0.71 -194.6 246.2 -9.5 360 2346 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1918 3669 0 0 0 0 0 0

2456 -0.71 -194.6 257.5 -10.1 379 2463 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1917 3669 0 0 0 0 0 0

2572 -0.71 -194.6 268.7 -9.6 398 2581 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1918 3669 0 0 0 0 0 0

2690 -0.71 -194.6 280.9 -10.5 417 2696 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1918 3668 0 0 0 0 0 0

2806 -0.71 -194.6 293.2 -10.1 436 2815 0.00 2.42 0.00 0.000 4 0.000 0.088 2787 481 3668 0 0 0 0 0 0

2835 -0.71 -194.6 296.2 -10.9 440 2844 0.00 2.47 0.00 0.000 6 0.000 0.082 2778 1921 3668 0 0 0 0 0 0

2934 end dive: BOTTOM_OBSTACLE_DETECTED

state 2934 begin apogee

2938 -0.25 0.0 307.8 11.7 456 3101 0.50 0.00 153.10 0.792 6 0.171 0.000 2929 1720 2863 0 0 0 0 0 0

3102 end apogee: CONTROL_FINISHED_OK

state 3102 begin climb

3103 1.02 194.6 315.9 0.0 478 3274 1.27 2.33 155.70 0.764 4 0.111 0.050 3347 368 2067 0 0 0 0 0 0

3410 0.92 194.6 292.3 11.7 523 3418 0.10 2.25 0.00 0.000 6 0.164 0.031 3322 1781 2063 0 0 0 0 0 0

3527 0.87 196.1 280.5 10.0 542 3537 0.08 0.00 0.00 0.000 6 0.196 0.000 3305 1783 2062 0 0 0 0 0 0

3648 0.88 232.9 270.1 8.7 561 3684 0.00 0.00 32.35 0.739 6 0.000 0.000 3305 1783 1913 0 0 0 0 0 0

3793 0.89 242.3 256.3 9.7 584 3809 0.00 2.33 8.55 0.653 4 0.000 0.047 3315 359 1876 0 0 0 0 0 0

3843 0.86 242.3 251.6 10.7 591 3851 0.08 2.22 0.00 0.000 6 0.172 0.033 3298 1771 1874 0 0 0 0 0 0

3959 0.90 271.8 240.7 9.0 610 3990 0.00 0.00 26.65 0.726 6 0.000 0.000 3298 1771 1754 0 0 0 0 0 0

4100 0.97 311.6 228.2 8.6 632 4139 0.10 0.00 35.08 0.724 6 0.094 0.000 3351 1771 1592 0 0 0 0 0 0

4250 0.94 311.6 210.5 12.8 655 4258 0.10 2.30 0.00 0.000 4 0.156 0.050 3335 363 1586 0 0 0 0 0 0

4283 0.91 311.6 206.1 11.7 660 4293 0.05 2.22 0.00 0.000 6 0.140 0.033 3317 1765 1586 0 0 0 0 0 0

4404 0.91 311.6 193.7 10.4 679 4410 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 1765 1584 0 0 0 0 0 0

4517 0.91 311.6 181.5 10.6 698 4527 0.00 2.30 0.00 0.000 4 0.000 0.050 3326 359 1583 0 0 0 0 0 0

4553 0.91 311.6 177.8 11.2 703 4561 0.00 2.17 0.00 0.000 6 0.000 0.034 3326 1749 1583 0 0 0 0 0 0

4668 0.91 311.6 164.4 11.6 722 4678 0.00 0.00 0.00 0.000 6 0.000 0.000 3326 1750 1583 0 0 0 0 0 0

4788 0.91 311.6 151.4 11.0 741 4794 0.00 0.00 0.00 0.000 6 0.000 0.000 3326 1749 1582 0 0 0 0 0 0

4904 0.91 311.6 137.7 11.8 760 4913 0.00 0.00 0.00 0.000 6 0.000 0.000 3326 1749 1582 0 0 0 0 0 0

5022 0.91 311.6 124.9 10.3 779 5028 0.00 0.00 0.00 0.000 6 0.000 0.000 3326 1750 1582 0 0 0 0 0 0

5136 0.91 311.6 112.6 10.4 798 5146 0.00 0.00 0.00 0.000 6 0.000 0.000 3326 1749 1582 0 0 0 0 0 0

5255 0.91 311.6 100.4 10.6 817 5262 0.00 0.00 0.00 0.000 6 0.000 0.000 3326 1750 1581 0 0 0 0 0 0

5371 0.91 311.6 87.5 11.0 836 5379 0.00 0.00 0.00 0.000 6 0.000 0.000 3326 1750 1581 0 0 0 0 0 0

5489 0.91 311.6 74.1 11.3 855 5496 0.00 2.20 0.00 0.000 4 0.000 0.050 3336 364 1580 0 0 0 0 0 0

5518 0.91 311.6 70.9 11.3 859 5526 0.08 2.17 0.00 0.000 6 0.172 0.034 3317 1771 1580 0 0 0 0 0 0

5635 0.91 311.6 57.9 10.2 878 5645 0.00 2.22 0.00 0.000 4 0.000 0.057 3317 3172 1580 0 0 0 0 0 0

5671 0.91 311.6 54.2 11.2 883 5678 0.00 2.22 0.00 0.000 6 0.000 0.059 3325 1775 1580 0 0 0 0 0 0

5786 0.91 311.6 41.2 10.2 902 5796 0.00 2.30 0.00 0.000 4 0.000 0.055 3337 346 1579 0 0 0 0 0 0

5839 0.91 311.6 35.4 11.2 910 5849 0.05 2.22 0.00 0.000 6 0.141 0.036 3318 1756 1579 0 0 0 0 0 0

5962 0.97 337.0 23.5 9.1 929 5982 0.00 2.33 12.12 0.582 4 0.000 0.050 3328 337 1488 0 0 0 0 0 0

6022 1.04 361.2 17.7 9.2 937 6042 0.05 2.25 12.12 0.555 6 0.072 0.037 3377 1747 1388 0 0 0 0 0 0

6120 0.98 361.2 5.7 14.2 951 6129 0.15 0.00 0.00 0.000 6 0.145 0.000 3334 1747 1381 0 0 0 0 0 0

6136 end climb: SURFACE_DEPTH_REACHED

state 6136 begin surface coast

6162 end surface coast: CONTROL_FINISHED_OK

state 6163 begin surface

ID	573	HD_B	0.010078	ROLL_MIN	150	ALTIM_TOP_TURN_MARGIN	0
MISSION	9	HD_C	9.8500004e-06	ROLL_MAX	3785	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	173	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	50
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	1919	ALTIM_PING_DELTA	10
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	1758	ALTIM_FREQUENCY	13
D_TGT	1000	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_ABORT	1050	TGT_DEFAULT_LAT	-3415	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	TGT_DEFAULT_LON	2600	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	23	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	300	R_STBD_OVSHOOT	9	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.55000001
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	409	DEVICE2	101
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3959	DEVICE3	35
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2864	DEVICE4	135
T_DIVE	333	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	348	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_TIMEOUT	720	LOGGERS	1
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012000001	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-14065.09	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	1	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	200	PITCH_MIN	100	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0042828661
GLIDE_SLOPE	30	C_PITCH	3020	PHONE_SUPPLY	2	SEABIRD_T_H	0.00061930995
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-86.704987	SEABIRD_T_I	2.1971719e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011693723	SEABIRD_T_J	2.301111e-06
MASS	52922	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9469662
LENGTH	1.8	PITCH_GAIN	20	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.155618
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0016006827
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00019558761
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	0
HD_A	0.0038360001	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15	GC_LAST_COLLECTION	172

GPS1	290415,073804,-3426.041,2545.969,38,1.7,50,-27.8	TGT_NAME	DEPLOY
_CALLS	1	TGT_LATLONG	-3435.580,2528.620
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.204
_SM_DEPTHo	2.06	KALMAN_X	-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo	-63.5	KALMAN_Y	-14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2	290415,074553,-3426.031,2546.055,72,1.1,72,-27.8	MHEAD_RNG_PITCHd_Wd	263.6,31926,-15.7,-10.010
SPEED_LIMITS	0.173,0.296	D_GRID	1000

FINISH	1.2,1.021605	_10V_AH	10.2,14.515
SM_CCo	6239,0.00,0.000,0,0,1377,364.76	FG_AHR_24Vo	0.000
SM_GC	2.06,8.75,0.00,0.00,0.050,0.000,0.000,72,1930,1377,-9.10,0.31,364.76	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3412.10,2544.86,230208,191915	MEM	331496
TT8_MAMPS	0.026215	DATA_FILE_SIZE	70495,957
HUMID	61.53	CAP_FILE_SIZE	115274,0
INTERNAL_PRESSURE	9.32343	CFSIZE	2097086464,2074411008
TCM_TEMP	16.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	0	CURRENT	0.088, 48.1,1
ALTIM_BOTTOM_PING	290.6,32.1	GPS	290415,093123,-3426.328,2545.331,37,1.8,37,-27.8
_24V_AH	23.9,18.484

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	263	146.86	SBE_CT	651	23	361.83
Roll_motor	71	118	201.21	AA4330	2470	17	1017.36
VBD_pump_during_apogee	435	791	8244.46	WL_BB2F	1684	105	4228.46
VBD_pump_during_surface	0	0	0.00	QSP2150	2670	17	1099.54
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	91	52.58	nil	0	0	0.00
Iridium_during_connect	17	160	67.29	nil	0	0	0.00
Iridium_during_xfer	255	223	1362.93	nil	0	0	0.00
Transponder_ping	6	420	65.25	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	73	27	20.88
TT8	2261	13	320.40
LPSleep	650	2	14.53
TT8_Active	565	13	80.19
TT8_Sampling	3076	40	1281.74
TT8_CF8	153	50	79.21
TT8_Kalman	0	0	0.00
Analog_circuits	1542	15	240.98
GPS_charging	0	0	0.00
Compass	2431	15	390.11
RAFOS	0	0	0.00
Transponder	41	30	12.85

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-1.02	-194.6	0.0	0.0	0	88	0.00	0.00	-61.08	0.000	2	0.000	0.000	89	1915	3005	0	0	0	0	0	0
91	-1.02	-194.6	3.0	-2.2	7	126	11.32	0.00	-15.43	0.000	6	0.263	0.000	2682	1915	3660	0	0	0	0	0	0
203	-0.81	-194.6	24.7	-19.7	23	212	0.25	0.00	0.00	0.000	6	0.210	0.000	2749	1915	3663	0	0	0	0	0	0
287	-0.70	-194.6	39.1	-14.2	36	297	0.17	2.50	0.00	0.000	4	0.203	0.093	2791	493	3664	0	0	0	0	0	0
312	-0.63	-194.6	42.0	-12.5	39	320	0.12	2.65	0.00	0.000	6	0.210	0.119	2810	1928	3664	0	0	0	0	0	0
430	-0.63	-194.6	51.9	-7.4	58	440	0.00	2.40	0.00	0.000	4	0.000	0.087	2800	3345	3665	0	0	0	0	0	0
503	-0.66	-194.6	57.9	-7.9	69	510	0.00	2.40	0.00	0.000	6	0.000	0.084	2800	1933	3666	0	0	0	0	0	0
623	-0.68	-194.6	68.2	-9.6	88	631	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	1933	3667	0	0	0	0	0	0
744	-0.71	-194.6	79.9	-9.9	107	754	0.00	2.38	0.00	0.000	4	0.000	0.084	2791	3355	3668	0	0	0	0	0	0
787	-0.74	-194.6	84.6	-10.8	113	794	0.00	2.47	0.00	0.000	6	0.000	0.092	2791	1915	3668	0	0	0	0	0	0
905	-0.74	-194.6	97.5	-10.5	132	913	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	1915	3668	0	0	0	0	0	0
1022	-0.74	-194.6	109.7	-10.8	151	1032	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	1915	3669	0	0	0	0	0	0
1141	-0.74	-194.6	122.4	-10.5	170	1151	0.00	2.45	0.00	0.000	4	0.000	0.088	2782	3351	3670	0	0	0	0	0	0
1178	-0.74	-194.6	125.8	-10.0	175	1185	0.00	2.50	0.00	0.000	6	0.000	0.102	2782	1916	3669	0	0	0	0	0	0
1296	-0.74	-194.6	138.4	-10.4	194	1305	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1916	3670	0	0	0	0	0	0
1417	-0.74	-194.6	151.1	-11.1	213	1423	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1916	3670	0	0	0	0	0	0
1533	-0.74	-194.6	163.4	-10.6	232	1542	0.00	2.45	0.00	0.000	4	0.000	0.092	2782	483	3671	0	0	0	0	0	0
1556	-0.74	-194.6	165.8	-11.2	235	1563	0.00	2.45	0.00	0.000	6	0.000	0.082	2772	1919	3670	0	0	0	0	0	0
1672	-0.71	-194.6	179.4	-11.1	254	1684	0.05	2.40	0.00	0.000	4	0.258	0.093	2771	3338	3670	0	0	0	0	0	0
1746	-0.71	-194.6	187.6	-11.2	265	1754	0.08	2.42	0.00	0.000	6	0.179	0.094	2786	1918	3670	0	0	0	0	0	0
1863	-0.71	-194.6	199.8	-10.6	284	1872	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1918	3670	0	0	0	0	0	0
1982	-0.71	-194.6	211.6	-9.6	303	1989	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1918	3670	0	0	0	0	0	0
2100	-0.71	-194.6	223.4	-9.9	322	2109	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1918	3670	0	0	0	0	0	0
2221	-0.71	-194.6	234.9	-9.0	341	2228	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1918	3669	0	0	0	0	0	0
2337	-0.71	-194.6	246.2	-9.5	360	2346	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1918	3669	0	0	0	0	0	0
2456	-0.71	-194.6	257.5	-10.1	379	2463	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1917	3669	0	0	0	0	0	0
2572	-0.71	-194.6	268.7	-9.6	398	2581	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1918	3669	0	0	0	0	0	0
2690	-0.71	-194.6	280.9	-10.5	417	2696	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1918	3668	0	0	0	0	0	0
2806	-0.71	-194.6	293.2	-10.1	436	2815	0.00	2.42	0.00	0.000	4	0.000	0.088	2787	481	3668	0	0	0	0	0	0
2835	-0.71	-194.6	296.2	-10.9	440	2844	0.00	2.47	0.00	0.000	6	0.000	0.082	2778	1921	3668	0	0	0	0	0	0
2934	end dive: BOTTOM_OBSTACLE_DETECTED
state	2934	begin apogee
2938	-0.25	0.0	307.8	11.7	456	3101	0.50	0.00	153.10	0.792	6	0.171	0.000	2929	1720	2863	0	0	0	0	0	0
3102	end apogee: CONTROL_FINISHED_OK
state	3102	begin climb
3103	1.02	194.6	315.9	0.0	478	3274	1.27	2.33	155.70	0.764	4	0.111	0.050	3347	368	2067	0	0	0	0	0	0
3410	0.92	194.6	292.3	11.7	523	3418	0.10	2.25	0.00	0.000	6	0.164	0.031	3322	1781	2063	0	0	0	0	0	0
3527	0.87	196.1	280.5	10.0	542	3537	0.08	0.00	0.00	0.000	6	0.196	0.000	3305	1783	2062	0	0	0	0	0	0
3648	0.88	232.9	270.1	8.7	561	3684	0.00	0.00	32.35	0.739	6	0.000	0.000	3305	1783	1913	0	0	0	0	0	0
3793	0.89	242.3	256.3	9.7	584	3809	0.00	2.33	8.55	0.653	4	0.000	0.047	3315	359	1876	0	0	0	0	0	0
3843	0.86	242.3	251.6	10.7	591	3851	0.08	2.22	0.00	0.000	6	0.172	0.033	3298	1771	1874	0	0	0	0	0	0
3959	0.90	271.8	240.7	9.0	610	3990	0.00	0.00	26.65	0.726	6	0.000	0.000	3298	1771	1754	0	0	0	0	0	0
4100	0.97	311.6	228.2	8.6	632	4139	0.10	0.00	35.08	0.724	6	0.094	0.000	3351	1771	1592	0	0	0	0	0	0
4250	0.94	311.6	210.5	12.8	655	4258	0.10	2.30	0.00	0.000	4	0.156	0.050	3335	363	1586	0	0	0	0	0	0
4283	0.91	311.6	206.1	11.7	660	4293	0.05	2.22	0.00	0.000	6	0.140	0.033	3317	1765	1586	0	0	0	0	0	0
4404	0.91	311.6	193.7	10.4	679	4410	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	1765	1584	0	0	0	0	0	0
4517	0.91	311.6	181.5	10.6	698	4527	0.00	2.30	0.00	0.000	4	0.000	0.050	3326	359	1583	0	0	0	0	0	0
4553	0.91	311.6	177.8	11.2	703	4561	0.00	2.17	0.00	0.000	6	0.000	0.034	3326	1749	1583	0	0	0	0	0	0
4668	0.91	311.6	164.4	11.6	722	4678	0.00	0.00	0.00	0.000	6	0.000	0.000	3326	1750	1583	0	0	0	0	0	0
4788	0.91	311.6	151.4	11.0	741	4794	0.00	0.00	0.00	0.000	6	0.000	0.000	3326	1749	1582	0	0	0	0	0	0
4904	0.91	311.6	137.7	11.8	760	4913	0.00	0.00	0.00	0.000	6	0.000	0.000	3326	1749	1582	0	0	0	0	0	0
5022	0.91	311.6	124.9	10.3	779	5028	0.00	0.00	0.00	0.000	6	0.000	0.000	3326	1750	1582	0	0	0	0	0	0
5136	0.91	311.6	112.6	10.4	798	5146	0.00	0.00	0.00	0.000	6	0.000	0.000	3326	1749	1582	0	0	0	0	0	0
5255	0.91	311.6	100.4	10.6	817	5262	0.00	0.00	0.00	0.000	6	0.000	0.000	3326	1750	1581	0	0	0	0	0	0
5371	0.91	311.6	87.5	11.0	836	5379	0.00	0.00	0.00	0.000	6	0.000	0.000	3326	1750	1581	0	0	0	0	0	0
5489	0.91	311.6	74.1	11.3	855	5496	0.00	2.20	0.00	0.000	4	0.000	0.050	3336	364	1580	0	0	0	0	0	0
5518	0.91	311.6	70.9	11.3	859	5526	0.08	2.17	0.00	0.000	6	0.172	0.034	3317	1771	1580	0	0	0	0	0	0
5635	0.91	311.6	57.9	10.2	878	5645	0.00	2.22	0.00	0.000	4	0.000	0.057	3317	3172	1580	0	0	0	0	0	0
5671	0.91	311.6	54.2	11.2	883	5678	0.00	2.22	0.00	0.000	6	0.000	0.059	3325	1775	1580	0	0	0	0	0	0
5786	0.91	311.6	41.2	10.2	902	5796	0.00	2.30	0.00	0.000	4	0.000	0.055	3337	346	1579	0	0	0	0	0	0
5839	0.91	311.6	35.4	11.2	910	5849	0.05	2.22	0.00	0.000	6	0.141	0.036	3318	1756	1579	0	0	0	0	0	0
5962	0.97	337.0	23.5	9.1	929	5982	0.00	2.33	12.12	0.582	4	0.000	0.050	3328	337	1488	0	0	0	0	0	0
6022	1.04	361.2	17.7	9.2	937	6042	0.05	2.25	12.12	0.555	6	0.072	0.037	3377	1747	1388	0	0	0	0	0	0
6120	0.98	361.2	5.7	14.2	951	6129	0.15	0.00	0.00	0.000	6	0.145	0.000	3334	1747	1381	0	0	0	0	0	0
6136	end climb: SURFACE_DEPTH_REACHED
state	6136	begin surface coast
6162	end surface coast: CONTROL_FINISHED_OK
state	6163	begin surface